got the positions for the depositor.

TeamCode/src/main/java/org/timecrafters/CenterStage/Common/PrototypeRobot.java

@@ -40,7 +40,7 @@ public class PrototypeRobot extends Robot {
     public MotorEx frontLeft, frontRight, backLeft, backRight, lift;
     public DcMotor odometerR, odometerL, odometerA;
     public IMU imu;
-//    public Servo depositorShoulder, depositorElbow, depositor;
+    public Servo depositorShoulder, depositorElbow, collectorShoulder, collectorElbow, depositor;
     private HDrive xDrive;
     private String string;
     public double xMultiplier = 1;
@@ -106,10 +106,10 @@ public class PrototypeRobot extends Robot {
         imu = engine.hardwareMap.get(IMU.class, "imu");
 
         //MOTORS
-        frontRight = new MotorEx(hardwareMap, "FrontRight");
-        frontLeft = new MotorEx(hardwareMap, "FrontLeft");
-        backRight = new MotorEx(hardwareMap, "BackRight");
-        backLeft = new MotorEx(hardwareMap, "BackLeft");
+        frontRight = new MotorEx(hardwareMap, "frontRight");
+        frontLeft = new MotorEx(hardwareMap, "frontLeft");
+        backRight = new MotorEx(hardwareMap, "backRight");
+        backLeft = new MotorEx(hardwareMap, "backLeft");
         lift = new MotorEx(hardwareMap, "Lift");
 
         configuration = new TimeCraftersConfiguration("Blue Crab");
@@ -136,10 +136,12 @@ public class PrototypeRobot extends Robot {
 
         imu.initialize(parameters);
 
-//        //SERVO
-//        depositorShoulder = hardwareMap.servo.get("depositor_shoulder");
-//        depositorElbow = hardwareMap.servo.get("depositor_elbow");
-//        depositor = hardwareMap.servo.get("depositor");
+        //SERVO
+        depositorShoulder = hardwareMap.servo.get("depositor_shoulder");
+        depositorElbow = hardwareMap.servo.get("depositor_elbow");
+//        collectorShoulder = hardwareMap.servo.get("collector_shoulder");
+//        collectorElbow = hardwareMap.servo.get("collector_elbow");
+        depositor = hardwareMap.servo.get("depositor");
 
         // input motors exactly as shown below
         xDrive = new HDrive(frontLeft, frontRight,

TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/Engines/ArmPosTestEngine.java

@@ -0,0 +1,23 @@
+package org.timecrafters.CenterStage.TeleOp.Engines;
+
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.timecrafters.CenterStage.Common.MiniYTeleOPBot;
+import org.timecrafters.CenterStage.Common.PrototypeRobot;
+import org.timecrafters.CenterStage.TeleOp.States.ArmPosTest;
+import org.timecrafters.CenterStage.TeleOp.States.YellowMinibotTeleOP;
+
+import dev.cyberarm.engine.V2.CyberarmEngine;
+
+@TeleOp(name = "arm test prototype bot")
+
+    public class ArmPosTestEngine extends CyberarmEngine {
+    private PrototypeRobot robot;
+        @Override
+    public void setup() {
+        this.robot = new PrototypeRobot("hello world");
+        this.robot.setup();
+
+        addState(new ArmPosTest(robot));
+    }
+}

TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/States/ArmPosTest.java

@@ -0,0 +1,45 @@
+package org.timecrafters.CenterStage.TeleOp.States;
+
+import org.firstinspires.ftc.robotcore.external.Telemetry;
+import org.timecrafters.CenterStage.Common.PrototypeRobot;
+
+import dev.cyberarm.engine.V2.CyberarmState;
+
+public class ArmPosTest extends CyberarmState {
+
+    private float armPos;
+    private long lastMeasuredTime;
+    private long waitTime;
+    PrototypeRobot robot;
+    public ArmPosTest(PrototypeRobot robot) {
+        this.robot = robot;
+    }
+
+    @Override
+    public void start() {
+        armPos = 0F;
+        lastMeasuredTime = System.currentTimeMillis();
+        waitTime = 500;
+
+        robot.depositorShoulder.setPosition(0);
+        robot.depositorElbow.setPosition(0);
+    }
+
+    @Override
+    public void exec(){
+
+        if (engine.gamepad1.a){
+            robot.depositorShoulder.setPosition(0);
+            robot.depositorElbow.setPosition(0);
+        } else if (engine.gamepad1.y){
+
+            robot.depositorShoulder.setPosition(0.9);
+            robot.depositorElbow.setPosition(0.22);
+        }
+    }
+
+    @Override
+    public void telemetry() {
+        engine.telemetry.addData("arm pos current", armPos);
+    }
+}

TeamCode/src/main/java/org/timecrafters/CenterStage/TeleOp/States/PrototypeRobotDrivetrainState.java

@@ -15,67 +15,6 @@ public class PrototypeRobotDrivetrainState extends CyberarmState {
     public PrototypeRobotDrivetrainState(PrototypeRobot robot) {
         this.robot = robot;
     }
-    private void depositorAutomation(){
-        // TODO: 10/7/2023 Workout Logic to move each limb step by step
-        
-//        lastCheckedTime = System.currentTimeMillis();
-//
-//        if (engine.gamepad2.a){
-//        // setting Servo Positions to do time Math
-//        robot.depositorShoulder.setPosition(robot.currentSetPosShoulder);
-//        // running math function to determine time
-//        robot.ShoulderServoWaitTime();
-//        // determining if the time is met to do the next action
-//        if (lastCheckedTime - System.currentTimeMillis() >= robot.servoWaitTime){
-//            robot.lastSetPosShoulder = robot.currentSetPosShoulder;
-//            // setting Servo Positions to do time Math
-//            robot.currentSetPosElbow = robot.ELBOW_COLLECT;
-//            robot.depositorElbow.setPosition(robot.currentSetPosElbow);
-//            robot.lastSetPosElbow = robot.currentSetPosElbow;
-//        }
-//    }
-//        if (engine.gamepad2.y){
-//            // setting Servo Positions to do time Math
-//            robot.currentSetPosShoulder = robot.SHOULDER_DEPOSIT;
-//            robot.depositorShoulder.setPosition(robot.currentSetPosShoulder);
-//            // running math function to determine time
-//            robot.ShoulderServoWaitTime();
-//            // determining if the time is met to do the next action
-//            if (lastCheckedTime - System.currentTimeMillis() >= robot.servoWaitTime){
-//                robot.lastSetPosShoulder = robot.currentSetPosShoulder;
-//                // setting Servo Positions to do time Math
-//                robot.currentSetPosElbow = robot.ELBOW_COLLECT;
-//                robot.depositorElbow.setPosition(robot.currentSetPosElbow);
-//                robot.lastSetPosElbow = robot.currentSetPosElbow;
-//
-//            }
-//        }
-//    }
-
-    // --------------------------------------------------------------------------------------------------------- Depositor control function
-//    private void depositorTeleOp(){
-//        // flip arms
-//        if (engine.gamepad1.x) {
-//            // shoulder deposit
-//            robot.depositorShoulder.setPosition(robot.SHOULDER_DEPOSIT);
-//            // shoulder collect
-//        } else if (engine.gamepad1.a) {
-//            robot.depositorShoulder.setPosition(robot.SHOULDER_COLLECT);
-//        }
-//        if (engine.gamepad1.y){
-//            // elbow deposit
-//            robot.depositorElbow.setPosition(robot.ELBOW_DEPOSIT);
-//            // elbow collect
-//        } else if (engine.gamepad1.b){
-//            robot.depositorElbow.setPosition(robot.ELBOW_COLLECT); // Collect / transfer = 0
-//        }
-
-//        // depositor
-//        if (engine.gamepad1.right_bumper) {
-//            robot.depositor.setPosition(0.8);
-//        } else if (engine.gamepad1.left_bumper) {
-//            robot.depositor.setPosition(0.2);
-        }
 
 //    }
     // --------------------------------------------------------------------------------------------------------- Slider control function
@@ -107,9 +46,6 @@ public class PrototypeRobotDrivetrainState extends CyberarmState {
         // drivetrain
         robot.driveTrainTeleOp();
 
-        // depositor
-//        depositorTeleOp();
-
         // lift
         sliderTeleOp();